Add elevator subsystem (#15)

src/main/java/org/sert2521/powerup/RobotName.kt

@@ -1,12 +1,14 @@
 package org.sert2521.powerup
 
 import org.sert2521.powerup.drivetrain.Drivetrain
+import org.sert2521.powerup.elevator.Elevator
 import org.sert2521.powerup.intake.Intake
 import org.sertain.Robot
 
 class RobotName : Robot() {
     override fun onCreate() {
         Drivetrain
         Intake
+        Elevator
     }
 }

src/main/java/org/sert2521/powerup/elevator/Elevator.kt

@@ -0,0 +1,20 @@
+package org.sert2521.powerup.elevator
+
+import org.sert2521.powerup.elevator.commands.TeleopElevator
+import org.sert2521.powerup.util.LEFT_ELEVATOR_MOTOR
+import org.sert2521.powerup.util.RIGHT_ELEVATOR_MOTOR
+import org.sertain.command.Subsystem
+import org.sertain.hardware.Talon
+import org.sertain.hardware.autoBreak
+import org.sertain.hardware.plus
+
+object Elevator : Subsystem() {
+    private val elevator =
+            Talon(LEFT_ELEVATOR_MOTOR).autoBreak() + Talon(RIGHT_ELEVATOR_MOTOR).autoBreak()
+
+    override val defaultCommand = TeleopElevator()
+
+    fun set(speed: Double) = elevator.set(speed)
+
+    fun stop() = elevator.stopMotor()
+}

src/main/java/org/sert2521/powerup/elevator/commands/TeleopElevator.kt

@@ -0,0 +1,20 @@
+package org.sert2521.powerup.elevator.commands
+
+import org.sert2521.powerup.elevator.Elevator
+import org.sert2521.powerup.util.secondaryJoystick
+import org.sertain.command.Command
+
+class TeleopElevator : Command() {
+    init {
+        requires(Elevator)
+    }
+
+    override fun execute(): Boolean {
+        if (secondaryJoystick.trigger) Elevator.set(secondaryJoystick.y)
+        return false
+    }
+
+    override fun onDestroy() {
+        Elevator.stop()
+    }
+}

src/main/java/org/sert2521/powerup/util/Constants.kt

@@ -9,10 +9,13 @@ const val SECONDARY_STICK_PORT = 2
 const val CONTROLLER_PORT = 3
 
 // Talon IDs
-const val RIGHT_FRONT_MOTOR = 10
-const val RIGHT_REAR_MOTOR = 14
 const val LEFT_FRONT_MOTOR = 19
 const val LEFT_REAR_MOTOR = 17
+const val RIGHT_FRONT_MOTOR = 10
+const val RIGHT_REAR_MOTOR = 14
 
-const val RIGHT_INTAKE_MOTOR = 13
 const val LEFT_INTAKE_MOTOR = 12
+const val RIGHT_INTAKE_MOTOR = 13
+
+const val LEFT_ELEVATOR_MOTOR = -1
+const val RIGHT_ELEVATOR_MOTOR = -1